Amanda Ghassaei / Mbed 2 deprecated Bracky-MPU6050-DMP

bio robot

Dependencies:   MPU6050-DMP QEI_hw mbed-rpc mbed

Fork of MPU6050_Example by Shundo Kishi

Comm/Comm.cpp@6:12b6be801ad8, 2015-12-03 (annotated)

Committer:
amandaghassaei
Date:
Thu Dec 03 05:52:55 2015 +0000
Revision:
6:12b6be801ad8
Parent:
5:c3d671959ef3
Child:
8:1a3a69fecedf
comm stack stop pt for now

Who changed what in which revision?

UserRevisionLine numberNew contents of line
amandaghassaei 2:17b18ea93551 1 #include "Comm.h"
amandaghassaei 2:17b18ea93551 2
amandaghassaei 2:17b18ea93551 3
amandaghassaei 4:ebb882658c50 4 Comm::Comm(CommDelegate *gains, CommDelegate *target, CommDelegate *myMPU6050_1):_pc(USBTX, USBRX), _json(&_pc)
amandaghassaei 2:17b18ea93551 5 {
amandaghassaei 6:12b6be801ad8 6 _pc.baud(115200);
amandaghassaei 2:17b18ea93551 7 _gains = gains;
amandaghassaei 2:17b18ea93551 8 _target = target;
amandaghassaei 2:17b18ea93551 9 _myMPU6050_1 = myMPU6050_1;
amandaghassaei 2:17b18ea93551 10 }
amandaghassaei 2:17b18ea93551 11
amandaghassaei 5:c3d671959ef3 12 void Comm::openGripper1(Arguments* input, Reply* output){
amandaghassaei 2:17b18ea93551 13 printGripper1State(true);
amandaghassaei 2:17b18ea93551 14 }
amandaghassaei 2:17b18ea93551 15
amandaghassaei 5:c3d671959ef3 16 void Comm::closeGripper1(Arguments* input, Reply* output){
amandaghassaei 2:17b18ea93551 17 printGripper1State(false);
amandaghassaei 2:17b18ea93551 18 }
amandaghassaei 2:17b18ea93551 19
amandaghassaei 2:17b18ea93551 20 void Comm::printGripper1State(bool state){
amandaghassaei 2:17b18ea93551 21 _json.open();
amandaghassaei 2:17b18ea93551 22 if (state) _json.print("gripper1", "true");
amandaghassaei 2:17b18ea93551 23 else _json.print("gripper1", "false");
amandaghassaei 2:17b18ea93551 24 _json.close();
amandaghassaei 2:17b18ea93551 25 }
amandaghassaei 2:17b18ea93551 26
amandaghassaei 5:c3d671959ef3 27 void Comm::openGripper2(Arguments* input, Reply* output){
amandaghassaei 2:17b18ea93551 28 printGripper2State(true);
amandaghassaei 2:17b18ea93551 29 }
amandaghassaei 2:17b18ea93551 30
amandaghassaei 5:c3d671959ef3 31 void Comm::closeGripper2(Arguments* input, Reply* output){
amandaghassaei 2:17b18ea93551 32 printGripper2State(false);
amandaghassaei 2:17b18ea93551 33 }
amandaghassaei 2:17b18ea93551 34
amandaghassaei 2:17b18ea93551 35 void Comm::printGripper2State(bool state){
amandaghassaei 2:17b18ea93551 36 _json.open();
amandaghassaei 2:17b18ea93551 37 if (state) _json.print("gripper2", "true");
amandaghassaei 2:17b18ea93551 38 else _json.print("gripper2", "false");
amandaghassaei 2:17b18ea93551 39 _json.close();
amandaghassaei 2:17b18ea93551 40 }
amandaghassaei 2:17b18ea93551 41
amandaghassaei 5:c3d671959ef3 42 void Comm::setGains(Arguments* input, Reply* output){
amandaghassaei 5:c3d671959ef3 43 if (input->argc < _gains->numGains()){
amandaghassaei 5:c3d671959ef3 44 throwNotEnoughArgsError();
amandaghassaei 5:c3d671959ef3 45 return;
amandaghassaei 5:c3d671959ef3 46 }
amandaghassaei 5:c3d671959ef3 47 float k1 = input->getArg<float>();
amandaghassaei 5:c3d671959ef3 48 float d1 = input->getArg<float>();
amandaghassaei 5:c3d671959ef3 49 float k2 = input->getArg<float>();
amandaghassaei 5:c3d671959ef3 50 float d2 = input->getArg<float>();
amandaghassaei 2:17b18ea93551 51 _gains->setGains(k1, d1, k2, d2);
amandaghassaei 5:c3d671959ef3 52 printGains();
amandaghassaei 2:17b18ea93551 53 }
amandaghassaei 2:17b18ea93551 54
amandaghassaei 2:17b18ea93551 55 void Comm::printGains(){
amandaghassaei 2:17b18ea93551 56 _json.open();
amandaghassaei 2:17b18ea93551 57 _json.print("k1", _gains->getK1());
amandaghassaei 2:17b18ea93551 58 _json.sepItem();
amandaghassaei 2:17b18ea93551 59 _json.print("d1", _gains->getD1());
amandaghassaei 2:17b18ea93551 60 _json.sepItem();
amandaghassaei 2:17b18ea93551 61 _json.print("k2", _gains->getK2());
amandaghassaei 2:17b18ea93551 62 _json.sepItem();
amandaghassaei 2:17b18ea93551 63 _json.print("d2", _gains->getD1());
amandaghassaei 2:17b18ea93551 64 _json.close();
amandaghassaei 2:17b18ea93551 65 }
amandaghassaei 2:17b18ea93551 66
amandaghassaei 5:c3d671959ef3 67 void Comm::setTarget(Arguments* input, Reply* output){
amandaghassaei 5:c3d671959ef3 68 if (input->argc < 1){
amandaghassaei 5:c3d671959ef3 69 throwNotEnoughArgsError();
amandaghassaei 5:c3d671959ef3 70 return;
amandaghassaei 5:c3d671959ef3 71 }
amandaghassaei 5:c3d671959ef3 72 int targetPosition = input->getArg<int>();
amandaghassaei 2:17b18ea93551 73 _target->setPosition(targetPosition);
amandaghassaei 5:c3d671959ef3 74 printTarget();
amandaghassaei 2:17b18ea93551 75 }
amandaghassaei 2:17b18ea93551 76
amandaghassaei 2:17b18ea93551 77 void Comm::printTarget(){
amandaghassaei 2:17b18ea93551 78 _json.open();
amandaghassaei 2:17b18ea93551 79 _json.print("target", _target->getPosition());
amandaghassaei 2:17b18ea93551 80 _json.close();
amandaghassaei 2:17b18ea93551 81 }
amandaghassaei 2:17b18ea93551 82
amandaghassaei 2:17b18ea93551 83 void Comm::printPosition(){
amandaghassaei 2:17b18ea93551 84 _json.open();
amandaghassaei 2:17b18ea93551 85 _json.print("th1", _myMPU6050_1->getTheta());
amandaghassaei 2:17b18ea93551 86 _json.sepItem();
amandaghassaei 2:17b18ea93551 87 _json.print("dth1", _myMPU6050_1->getDtheta());
amandaghassaei 2:17b18ea93551 88 _json.close();
amandaghassaei 2:17b18ea93551 89 }
amandaghassaei 2:17b18ea93551 90
amandaghassaei 4:ebb882658c50 91 void Comm::check(){
amandaghassaei 5:c3d671959ef3 92 if(!_pc.readable()) return;
amandaghassaei 4:ebb882658c50 93 _pc.gets(buf, 256);
amandaghassaei 4:ebb882658c50 94 //Call the static call method on the RPC class
amandaghassaei 4:ebb882658c50 95 RPC::call(buf, outbuf);
amandaghassaei 5:c3d671959ef3 96 // _pc.printf("%s\n", outbuf);
amandaghassaei 4:ebb882658c50 97 }
amandaghassaei 5:c3d671959ef3 98
amandaghassaei 5:c3d671959ef3 99 void Comm::throwNotEnoughArgsError(){
amandaghassaei 5:c3d671959ef3 100 _json.open();
amandaghassaei 5:c3d671959ef3 101 _json.print("error", "not enough input arguments");
amandaghassaei 5:c3d671959ef3 102 _json.close();
amandaghassaei 5:c3d671959ef3 103 }